A port photovoltaic container freight system and its operation method

Abstract

The present invention discloses a port photovoltaic container freight system and its operation method. The system and method can solve the problems of port loading, unloading and transportation in a green and efficient manner; through solar photovoltaic panels, intelligent robotic arms and track systems, full automation from loading and unloading to transportation is achieved, maximizing the container transportation efficiency; the photovoltaic panels are used to supply energy to the entire transportation system, reducing carbon emissions during transportation.

Description

Technical Field

[0001] The present invention relates to the field of port logistics transportation, and particularly to a new transportation system and operation method that organically combines a photovoltaic system and a mechanical transportation system to improve port transportation efficiency and alleviate environmental and energy problems. Background Art

[0002] In the existing port transportation system, ship loaders, bucket chain loaders, bridge cranes, portal cranes, bucket bridge cranes and other port machinery are generally used to perform the tasks of loading and unloading ships at ports, and overhead belt conveyors, mobile belt conveyors or manual driving methods are used to transport port goods. Most of these port machinery that play a major transportation role in ports need to be driven by fossil fuels, which will cause environmental and energy problems, and at the same time, the transportation efficiency is not ideal.

[0003] In addition, during the handling of existing port containers, the working efficiency is low, the operation process of synchronously handling multiple containers is relatively complex, and the failure rate is high.

[0004] Based on the above problems, the inventor of the present invention has made an in-depth analysis of a port container freight system, in order to design a port photovoltaic container freight system and its operation method that can solve the above problems. Summary of the Invention

[0005] In order to overcome the above problems, the inventor of the present invention has conducted intensive research and designed a port photovoltaic container freight system and its operation method. The system and method can solve the problems of port loading and unloading and transportation in a green and efficient manner; through solar photovoltaic panels, intelligent robotic arms and track systems, full automation from loading and unloading to transportation is realized, and the container transportation efficiency is maximally improved; the photovoltaic panels are used to supply energy to the entire transportation system, reducing carbon emissions during transportation, thus completing the present invention.

[0006] Specifically, the purpose of the present invention is to provide a port photovoltaic container freight system, which includes:

[0007] A photovoltaic array 1 arranged above a frame structure 7,

[0008] A track network 2 is arranged below the frame structure 7,

[0009] A robotic arm 3 that can move along the track network is arranged on the track network 2; the container is transported by the robotic arm;

[0010] The robotic arm 3 is powered by the photovoltaic array 1.

[0011] Wherein, the track network 2 includes a transverse track 21 and a longitudinal track 22 that are perpendicularly and crosswise arranged with each other;

[0012] A steering mechanism 23 is provided at the intersection of the transverse track 21 and the longitudinal track 22;

[0013] The robotic arm 3 can move from the transverse track 21 to the longitudinal track 22 or from the longitudinal track 22 to the transverse track 21 through the steering mechanism 23.

[0014] Among them, the steering mechanism 23 includes a straight track 232 that can rotate horizontally around the rotation axis 231 synchronously and steering tracks 233 located on both sides of the straight track 232;

[0015] Preferably, when both ends of the straight track 232 are docked with the longitudinal track 22, the longitudinal track 22 is connected;

[0016] When both ends of the straight track 232 are docked with the transverse track 21, the transverse track 21 is connected;

[0017] When both ends of the steering track 233 are docked with the transverse track 21 and the longitudinal track 22, the transverse track 21 and the longitudinal track 22 are connected.

[0018] Among them, along the length direction of the longitudinal track, the track network 2 sequentially includes a loading area 4, a transportation area 5, and an unloading area 6 from one end to the other end;

[0019] Among them, the longitudinal track 22 located in the loading area 4 and the unloading area 6 is a movable track 24, and the movable track 24 can reciprocate a predetermined distance along the length direction of the transverse track 21 so that the robotic arm 3 thereon can align with the container.

[0020] Among them, a buckle 8 is provided at the cross-section where the steering mechanism 23 intersects with the transverse track 21 and the longitudinal track 22;

[0021] A buckle 8 is provided at the cross-section where the movable track 24 intersects with the longitudinal track 22;

[0022] The buckle 8 guides and aligns the two cross-sections and prevents radial crosstalk between the two cross-sections.

[0023] Among them, the buckle 8 includes a locking tongue 81, a spring 82, and an electromagnet 83 installed in one cross-section, and also includes a blind hole 84 opened in the other cross-section;

[0024] The locking tongue 81 is generally conical in shape and can be embedded into the blind hole 84 under the action of the spring 82, and the outer shape structure of the locking tongue 81 is basically the same as the internal shape of the blind hole 84;

[0025] Preferably, the locking tongue 81 is pyramid-shaped, and the relative deflection between two adjacent cross-sections is prevented by this pyramid-shaped structure.

[0026] Among them, the longitudinal tracks 22 at the outermost edges on both sides are charging tracks 25, and the charging tracks 25 are connected to the loading area 4 and the unloading area 6;

[0027] The robotic arm 3 without a grabbed container returns from the unloading area 6 to the loading area 4 through the charging track 25;

[0028] Preferably, metal conductors are arranged along the length direction of the charging track 25. The metal conductors are in contact with the electric brushes on the robotic arm, and the metal conductors are also electrically connected to the photovoltaic array 1, so as to charge the robotic arm during the process of the robotic arm 3 returning from the unloading area 6 to the loading area 4.

[0029] Among them, at the edge of the unloading area 6, the movable track 24 extends outward to form an empty track 26; a plurality of empty tracks 26 are arranged side by side, and the length of each empty track 26 is such that at least one robotic arm 3 can be parked thereon for repairing and parking faulty robotic arms.

[0030] Among them, the system further includes:

[0031] A robotic arm acquisition and control unit arranged on the robotic arm 3, which is used to obtain the position and status information of each robotic arm in real time, and is also used to control the robotic arm 3 according to specific instructions;

[0032] A steering mechanism acquisition and control unit arranged on the steering mechanism 23, which is used to obtain the rotation angle and status information of each steering mechanism in real time, and is also used to control the steering mechanism 23 according to specific instructions;

[0033] A central control module, which is used to receive the information from the robotic arm acquisition and control unit and the steering mechanism acquisition and control unit, design the movement path of the robotic arm, and generate corresponding instructions.

[0034] The present invention also provides an operation method for a port photovoltaic container freight system,

[0035] The port photovoltaic container freight system is the port photovoltaic container freight system described above;

[0036] Preferably, the method includes the following steps:

[0037] Step 1: Mark the intersection of the transverse track 21 and the longitudinal track 22 as a grid point, and generate the coordinates of all grid points of the track;

[0038] Step 2: Find the grid point closest to the coordinates of the container to be transported as the starting grid point, and find the grid point closest to the end coordinates of the container as the ending grid point;

[0039] Step 3: Obtain the path from the starting grid point to the ending grid point, use the path length as the primary weight and the number of path turning angles as the secondary weight, compare the weights of each path and sort them;

[0040] Step 4: Generate the function of the robotic arm position on each path with respect to time; exclude the paths with conflicting robotic arm positions;

[0041] Step 5: Obtain the optimal path and three sub-optimal paths, upload the optimal path, which is controlled and executed by the central control module, and upload the three sub-optimal paths for backup.

[0042] The beneficial effects of the present invention include:

[0043] (1) According to the port photovoltaic container freight system and its operation method provided by the present invention, the use of the photovoltaic system for power supply changes the traditional pattern of widely using fossil fuels, achieving the effect of energy conservation and environmental protection;

[0044] (2) According to the port photovoltaic container freight system and its operation method provided by the present invention, a fully automatic system design is adopted, and the entire loading and unloading operation can be completed only by inputting the loading and unloading information, greatly reducing the labor cost and improving the loading and unloading efficiency at the same time;

[0045] (3) According to the port photovoltaic container freight system and its operation method provided by the present invention, the system is easy to maintain. The operation information and alarm information of the system are all unified and displayed in the central control, ensuring the safety of the entire system. The modular design reduces the maintenance difficulty;

[0046] (4) According to the port photovoltaic container freight system and its operation method provided by the present invention, the robotic arm adopts an "energy supply while moving" power supply mode, increasing the effective working time of a single robotic arm, and thus improving the working efficiency of the system;

[0047] (5) According to the port photovoltaic container freight system and its operation method provided by the present invention, the modulus of the system is designed according to the container size, ensuring the possibility of multiple groups of hoisting at the same time and improving the hoisting and transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Shows a schematic diagram of the overall structure of a port photovoltaic container freight system according to a preferred embodiment of the present invention;

[0049] Figure 2 Shows a schematic diagram of the frame structure in a port photovoltaic container freight system according to a preferred embodiment of the present invention;

[0050] Figure 3 Shows Figure 1 A partial enlarged view of area A in

[0051] Figure 4Shows the structural schematic diagram of the steering mechanism when connecting two sections of longitudinal tracks in the port photovoltaic container freight system according to a preferred embodiment of the present invention;

[0052] Figure 5 Shows the structural schematic diagram of the steering mechanism when connecting the transverse track and the longitudinal track in the port photovoltaic container freight system according to a preferred embodiment of the present invention;

[0053] Figure 6 Shows the structural schematic diagram of the buckle structure in the port photovoltaic container freight system according to a preferred embodiment of the present invention;

[0054] Figure 7 Shows the schematic diagram of the buckle installed in the movable track;

[0055] Figure 8 Shows the schematic diagram when the movable track is in contact with the longitudinal track;

[0056] Figure 9 Shows the schematic diagram when the buckle is compressed when the movable track is in contact with the longitudinal track;

[0057] Figure 10 Shows the schematic diagram when the movable track is aligned with the longitudinal track;

[0058] Figure 11 Shows the structural schematic diagram of the robotic arm in the port photovoltaic container freight system according to a preferred embodiment of the present invention;

[0059] Figure 12 Shows Figure 11 The partial enlarged view of area B in;

[0060] Figure 13 Shows the overall logic diagram of the operation method of the port photovoltaic container freight system according to a preferred embodiment of the present invention.

[0061] Explanation of reference numerals

[0062] 1 - Photovoltaic array

[0063] 2 - Track network

[0064] 21 - Transverse track

[0065] 22 - Longitudinal track

[0066] 23 - Steering mechanism

[0067] 231 - Rotating shaft

[0068] 232 - Straight track

[0069] 233 - Steering track

[0070] 24 - Movable track

[0071] 25 - Charging Track

[0072] 26 - Empty Track

[0073] 3 - Manipulator Arm

[0074] 31 - Vertical Telescopic Rod

[0075] 32 - Gripping Hand

[0076] 33 - Charging Brush

[0077] 34 - Pulley

[0078] 4 - Loading Area

[0079] 5 - Transportation Area

[0080] 6 - Unloading Area

[0081] 7 - Frame Structure

[0082] 71 - Steel Frame Beam

[0083] 72 - Steel Frame Column

[0084] 8 - Snap Fastener

[0085] 81 - Lock Tongue

[0086] 82 - Spring

[0087] 83 - Electromagnet

[0088] 84 - Blind Hole Detailed Implementation Manner

[0089] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become more clearly defined.

[0090] The special term "exemplary" here means "serving as an example, embodiment, or illustration". Any embodiment described as "exemplary" here does not necessarily have to be interpreted as superior to or better than other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0091] A port photovoltaic container freight system provided according to the present invention, as Figure 1 shown in, the system includes:

[0092] A photovoltaic array 1 disposed above the frame structure 7, Figure 1 Move the specific position of the photovoltaic array 1 upward to prevent the photovoltaic array from blocking the track network;

[0093] A track network 2 is disposed below the frame structure 7,

[0094] A robotic arm 3 that can move along the track network 2 is provided on the track network 2; containers are transported by this robotic arm.

[0095] The photovoltaic array 1 powers the robotic arm 3.

[0096] Preferably, the frame structure includes a steel frame beam 71 and a steel frame column 72 that are joined to each other. As Figure 2 shown, the frame structure has a sufficiently large strength to facilitate bearing the acting force.

[0097] The photovoltaic array 1 is composed of multiple photovoltaic panels connected in series and parallel. All the photovoltaic panels are fixed on the frame structure 7. Preferably, the photovoltaic array 1 further includes a storage battery. The storage battery is connected to the photovoltaic panels and charged by the photovoltaic panels. The storage battery is electrically connected to the charging track to provide power for the charging track.

[0098] In a preferred embodiment, as Figure 1 、 Figure 3 shown, the track network 2 includes a transverse track 21 and a longitudinal track 22 that are arranged vertically and crosswise with each other. The distance between two adjacent longitudinal tracks 22 is greater than 13412 mm, which is 110% of the maximum international standard container size, to avoid the containers from colliding with each other when moving normally under the tracks.

[0099] A steering mechanism 23 is provided at the intersection of the transverse track 21 and the longitudinal track 22.

[0100] The robotic arm 3 can move from the transverse track 21 to the longitudinal track 22, or from the longitudinal track 22 to the transverse track 21 through the steering mechanism 23. It can also move from the transverse track 21 to the next transverse track 21, or from the longitudinal track 22 to the next longitudinal track 22.

[0101] In a preferred embodiment, as Figure 3 、 Figure 4 and Figure 5 shown, the steering mechanism 23 includes a straight track 232 that can rotate horizontally around a rotation axis 231 synchronously and steering tracks 233 located on both sides of the straight track 232. In this application, the cross-sectional shapes and dimensions of the transverse track 21, the longitudinal track 22, the straight track 232, and the steering tracks 233 are all the same. In this application, the cross-section of the track includes two supporting plates located on both sides. Correspondingly, two lifting arms are provided at the top of the robotic arm 3 to lift the robotic arm 3 under the track.

[0102] The straight track 232 is a short straight track, and the steering track 233 is a curved track with a bending angle of about 90 degrees.

[0103] The rotating shaft 231 rotatably fixes the steering mechanism 23 on the frame structure 7; preferably, as Figure 4 , Figure 5 shown, the edge cross-section of the steering mechanism 23 is not planar, and each cross-section is arc-shaped, and the center of the arc is located on the rotating shaft 231; this arc-shaped design enables the steering mechanism 23 to rotate arbitrarily between the transverse track 21 and the longitudinal track 22 without jamming; after rotating to a predetermined angle, rapid alignment between the horizontal and vertical tracks and the steering track can be achieved.

[0104] Preferably, as Figure 4 shown, when both ends of the straight track 232 are docked with the longitudinal track 22, the longitudinal track 22 is connected, and the robotic arm 3 can directly pass through the steering mechanism 23 and enter the next longitudinal track 22 from one longitudinal track 22;

[0105] when both ends of the straight track 232 are docked with the transverse track 21, the transverse track 21 is connected;

[0106] As Figure 5 shown, when both ends of the steering track 233 are docked with the transverse track 21 and the longitudinal track 22, the transverse track 21 and the longitudinal track 22 are connected, and the robotic arm 3 can enter the transverse track 21 from the longitudinal track 22.

[0107] In this application, by setting the steering mechanism 23, the container can move arbitrarily with the robotic arm without rotating itself, and finally reach the predetermined position.

[0108] In a preferred embodiment, as Figure 1 shown, along the length direction of the longitudinal track, the track network 2 sequentially includes a loading area 4, a transportation area 5, and an unloading area 6 from one end to the other end;

[0109] Among them, the longitudinal tracks 22 located in the loading area 4 and the unloading area 6 are movable tracks 24, and the movable tracks 24 can reciprocate a predetermined distance along the length direction of the transverse track 21 to facilitate the robotic arm 3 thereon to align with the container. Preferably, the movable tracks 24 are all fixedly installed on a laterally movable steel frame beam, and the steel frame beam is driven by a lead screw to move, so as to achieve precise lateral displacement, so as to ensure that the robotic arm can move to a predetermined position, and precise grasping of the container can be achieved through a lowering operation.

[0110] In a preferred embodiment, as Figure 3 and Figure 6 shown, at the cross-section of the steering mechanism 23 and the transverse track 21, there are buckles 8, and at the cross-section where the steering mechanism 23 intersects with the longitudinal track 22, there are buckles 8;

[0111] A buckle 8 is provided at the cross-section where the movable track 24 intersects with the longitudinal track 22;

[0112] The buckle 8 guides and aligns the two cross-sections and prevents radial crosstalk between the two cross-sections.

[0113] Further, the buckle 8 includes a locking tongue 81, a spring 82, and an electromagnet 83 installed in one cross-section, and also includes a blind hole 84 opened in the other cross-section;

[0114] The locking tongue 81 is generally conical in shape and can be embedded into the blind hole 84 under the action of the spring 82, and the outer shape structure of the locking tongue 81 is basically the same as the internal shape of the blind hole 84;

[0115] Preferably, the locking tongue 81 is pyramid-shaped, and the pyramid-shaped structure is used to prevent relative deflection between two adjacent cross-sections.

[0116] Preferably, the working process of the buckle 8 is as follows: as the movable track 24 moves, the two tracks approach each other. As shown in Figure 7 、 Figure 8 , when the track contacts the locking tongue, the spring is gradually compressed. As shown in Figure 9 , when the two tracks are completely docked, the locking tongue springs into the other track. As shown in Figure 10 ; when the two tracks need to be separated, the steering mechanism acquisition control unit controls the electromagnet to be energized, sucks the locking tongue back inward, and the locking tongue no longer hinders the radial movement between the two tracks, realizing the separation of the two end tracks.

[0117] In a preferred embodiment, the longitudinal tracks 22 at the outermost edges on both sides are charging tracks 25, and the charging tracks 25 are connected to the loading area 4 and the unloading area 6;

[0118] The robotic arm 3 that has not grabbed the container returns from the unloading area 6 to the loading area 4 through the charging track 25;

[0119] Preferably, a metal conductor is arranged along the length direction on the charging track 25. The metal conductor contacts the brush on the robotic arm, and the metal conductor is also electrically connected to the photovoltaic array 1, so as to charge the robotic arm during the process of the robotic arm 3 returning from the unloading area 6 to the loading area 4.

[0120] Specifically, two metal conductors are attached to the inner side of the charging track. The two metal conductors do not contact each other and are separated from the charging track by an insulator. The exposed parts of the metal conductors are located inside the track to avoid accidental contact and electric leakage.

[0121] The metal conductor is connected to the photovoltaic power supply system through a cable, especially to the storage battery of the photovoltaic array 1, to provide voltage for two metal conductors on the same track. The spacing between the metal conductors is the same as the spacing between the mechanical arm brushes. When the mechanical arm stays on the charging track or moves on the charging track, the metal conductors come into natural contact with the mechanical arm brushes, and a circuit is formed by the two metal conductors, the mechanical arm brushes, the cable, and the photovoltaic power supply system to discharge the mechanical arm.

[0122] In a preferred embodiment, pressure sensors are provided at both ends of the metal conductor to detect the load size on the charging track and transmit the load information to the charging control module on the photovoltaic array.

[0123] Furthermore, the charging control module controls the magnitude of the current discharged by the photovoltaic array. When the load on the charging track is empty, the discharge of the charging track is stopped to reduce power loss and the risk of electric leakage; when the load on the charging track is not empty, the corresponding multiple of current is discharged according to the number of loads to ensure that the current passing through each mechanical arm on the charging track remains constant.

[0124] In a preferred embodiment, at the edge of the unloading area 6, the movable track 24 extends outward to form an empty track 26; a plurality of empty tracks 26 are arranged side by side, and the length of each empty track 26 is such that at least one mechanical arm 3 can be parked thereon for repairing and parking malfunctioning mechanical arms.

[0125] Preferably, the empty track is not closed, and a detachable anti-dropping device is provided at the opening for loading and unloading empty mechanical arms; a mobile staircase is provided near the empty track to facilitate operations such as manual inspection and maintenance and temporarily parking malfunctioning mechanical arms. The setting of this empty track can avoid affecting the normal operation of other mechanical arms and ensure the overall continuous and efficient operation of the system.

[0126] The mechanical arm 3 in this application is used to grasp and fix a container, as Figure 11 、 Figure 12 shown. The mechanical arm 3 includes a vertical telescopic rod 31 for adjusting the height of the grasping hand so that the working height of the grasping hand is the same as the height of the container, and also includes a grasping hand 32 for grasping and fixing the container.

[0127] The mechanical arm 3 also includes a storage battery for storing the energy required by the mechanical arm. When the mechanical arm walks on the charging track, the storage battery is charged, and when the mechanical arm works and moves, power is provided by the storage battery.

[0128] The mechanical arm 3 also includes a charging brush 33 for charging the storage battery on the supporting charging track.

[0129] Preferably, a pulley 34 is further provided at the top of the robotic arm. The robotic arm 3 is connected to the track network 2 through the pulley 3. By driving the pulley 3 to rotate with a motor, the robotic arm 3 can move freely on the track network 2.

[0130] In a preferred embodiment, the system further includes:

[0131] A robotic arm acquisition and control unit arranged on the robotic arm 3, which is used to obtain the position and status information of each robotic arm in real time, and is also used to control the robotic arm 3 according to specific instructions; the position information includes the specific position of the robotic arm in the track network 2, and the status information includes the data self-check index of the robotic arm, and also includes information such as the current running speed, direction, and load size; the specific instructions for controlling the robotic arm 3 include information such as the moving speed and direction of the robotic arm 3;

[0132] A steering mechanism acquisition and control unit arranged on the steering mechanism 23, which is used to obtain the rotation angle and status information of each steering mechanism in real time, and is also used to control the steering mechanism 23 according to specific instructions; the status information includes whether the steering mechanism 23 is currently in a normal working state, that is, whether it can perform the next steering task;

[0133] A central control module, which is used to receive the information from the robotic arm acquisition and control unit and the steering mechanism acquisition and control unit, design the moving path of the robotic arm, and generate corresponding instructions. Among them, after generating the corresponding instructions, it pays attention to the execution situation of the instructions in real time. When a failure occurs in the robotic arm or the steering mechanism 23, it re-plans the path for other robotic arms in time to avoid interference between robotic arms.

[0134] Preferably, the system further includes: a positioning detection unit, which is used to analyze the three-dimensional model of the container obtained on the robotic arm 3, control the rotation of the robotic arm 3, and control the robotic arm 3 to be positioned on the container;

[0135] An anti-collision information collection unit, which is used to upload the three-dimensional model and position information of the robotic arm 3 to avoid collision with adjacent track robotic arms;

[0136] A manual control unit, which is used to change the robotic arm to manual control, stop the next action of the robotic arm, return the information collected by the robotic arm in real time, and wait for the input of the central control module.

[0137] A fastening detection and alarm unit, which is used to detect whether the movable track 24 is fastened to the longitudinal track 22, and whether the steering mechanism 23 is fastened to the transverse track 21 or the longitudinal track 22. If not fastened, the robotic arm sliding is stopped and an alarm message is issued;

[0138] A robotic arm overload alarm unit, which is used to detect whether the torque and tension received by the robotic arm are within the safe range, and stop working and issue an alarm prompt message when overloaded.

[0139] The present application also provides an operation method for a port photovoltaic container freight system, and this port photovoltaic container freight system is the port photovoltaic container freight system described above.

[0140] Preferably, as Figure 13 shown in, this method includes the following steps:

[0141] Step 1: Mark the intersection of the transverse track 21 and the longitudinal track 22 as a grid point, and generate the coordinates of all grid points of the track.

[0142] Step 2: Find the grid point closest to the coordinates of the container to be transported as the starting grid point, and find the grid point closest to the end coordinates of the container as the ending grid point.

[0143] Step 3: Obtain the path from the starting grid point to the ending grid point, take the path length as the primary weight and the number of path turning angles as the secondary weight, compare the weights of each path and sort them, that is, arrange the paths with relatively smaller path lengths in the front.

[0144] Step 4: Generate the function of the position of the robotic arm on each path with respect to time; exclude the paths with conflicting robotic arm positions.

[0145] Step 5: Obtain the optimal path and three sub-optimal paths, upload the optimal path to the central control module for control and execution by the central control module, and upload the three sub-optimal paths for backup.

[0146] Among them, in Step 3, the current track network information is retrieved in real time, the malfunctioning steering mechanism 23 and the robotic arm positions are marked, and the paths that need to pass through the marked positions are deleted.

[0147] Among them, in Step 4, the movement time of the robotic arm on the path is T. Considering comprehensively the movement paths of other robotic arms that have already determined paths and are performing tasks within the T time, it is judged whether there is a spatio-temporal intersection with the current path, and the paths with spatio-temporal intersections are deleted, that is, the paths with conflicting robotic arm positions are excluded.

[0148] This method further includes Step 6: The central control module controls the robotic arm 3 to move on the track network 2. During the movement, the working states of the steering mechanism 23 and the robotic arm 3 on the track network are received in real time. When a malfunction occurs, a new path is planned for all the robotic arms that are performing transportation tasks to avoid the malfunction location and ensure the normal operation of the overall system.

[0149] The above has described the present invention in combination with preferred embodiments, but these embodiments are only exemplary and only serve an illustrative role. On this basis, various replacements and improvements can be made to the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A port photovoltaic container freight system, characterized in that, the system includes: a photovoltaic array (1) arranged above the frame structure (7), a track network (2) is arranged below the frame structure (7), a robotic arm (3) that can move along the track network is arranged on the track network (2); containers are transported by the robotic arm; the photovoltaic array (1) powers the robotic arm (3); the track network (2) includes a transverse track (21) and a longitudinal track (22) that are arranged perpendicular to each other and crosswise; a steering mechanism (23) is arranged at the intersection of the transverse track (21) and the longitudinal track (22); the robotic arm (3) can move from the transverse track (21) to the longitudinal track (22) or from the longitudinal track (22) to the transverse track (21) through the steering mechanism (23); along the length direction of the longitudinal track, the track network (2) sequentially includes a loading area (4), a transportation area (5), and an unloading area (6) from one end to the other end; wherein, the longitudinal tracks (22) located in the loading area (4) and the unloading area (6) are movable tracks (24), and the movable tracks (24) can reciprocally move a predetermined distance along the length direction of the transverse track (21) so that the robotic arm (3) thereon can align with the container; a buckle (8) is arranged at the cross-section where the steering mechanism (23) intersects with the transverse track (21) and the longitudinal track (22); a buckle (8) is arranged at the cross-section where the movable track (24) intersects with the longitudinal track (22); the two cross-sections are guided and aligned through the buckle (8), and radial crosstalk between the two cross-sections is prevented; the buckle (8) includes a locking tongue (81), a spring (82), and an electromagnet (83) installed in one cross-section, and also includes a blind hole (84) opened in the other cross-section; the locking tongue (81) is generally conical in shape and can be embedded into the blind hole (84) under the action of the spring (82), and the outer shape structure of the locking tongue (81) is consistent with the internal shape of the blind hole (84); the locking tongue (81) is pyramid-shaped, and the relative deflection between two adjacent cross-sections is prevented through this pyramid-shaped structure.

2. The port photovoltaic container freight system according to claim 1, characterized in that, the steering mechanism (23) includes a straight track (232) that can rotate horizontally around a rotation axis (231) synchronously and steering tracks (233) located on both sides of the straight track (232); when both ends of the straight track (232) are docked with the longitudinal track (22), the longitudinal track (22) is connected, when both ends of the straight track (232) are docked with the transverse track (21), the transverse track (21) is connected, when both ends of the steering track (233) are docked with the transverse track (21) and the longitudinal track (22), the transverse track (21) and the longitudinal track (22) are connected.

3. The port photovoltaic container freight system according to claim 1, characterized in that, the longitudinal tracks (22) located at the outermost edges on both sides are charging tracks (25), and the charging tracks (25) connect the loading area (4) and the unloading area (6); The robotic arm (3) that has not grabbed a container returns from the unloading area (6) to the loading area (4) through this charging track (25). A metal conductor is arranged along the length direction on the charging track (25). The metal conductor contacts the carbon brush on the robotic arm and is also electrically connected to the photovoltaic array (1), so as to charge the robotic arm during the process of the robotic arm (3) returning from the unloading area (6) to the loading area (4).

4. The port photovoltaic container freight system according to claim 1, characterized in that, At the edge of the unloading area (6), the movable track (24) extends outward to form an empty track (26); multiple empty tracks (26) are arranged side by side, and the length of each empty track (26) is such that at least one robotic arm (3) can be parked thereon for overhauling parked faulty robotic arms.

5. The port photovoltaic container freight system according to claim 1, characterized in that, This system further includes: A robotic arm acquisition and control unit arranged on the robotic arm (3), which is used to obtain the position and status information of each robotic arm in real time and is also used to control the robotic arm (3) according to specific instructions; A steering mechanism acquisition and control unit arranged on the steering mechanism (23), which is used to obtain the rotation angle and status information of each steering mechanism in real time and is also used to control the steering mechanism (23) according to specific instructions; A central control module, which is used to receive the information of the robotic arm acquisition and control unit and the steering mechanism acquisition and control unit, design the moving path of the robotic arm, and generate corresponding instructions.

6. An operation method of a port photovoltaic container freight system, characterized in that, This port photovoltaic container freight system is the port photovoltaic container freight system described in any one of claims 1 to 5 above; The operation method of this port photovoltaic container freight system includes the following steps: Step 1: Mark the intersection of the transverse track (21) and the longitudinal track (22) as a grid point, and generate the coordinates of all grid points of the track; Step 2: Find the grid point closest to the coordinates of the container to be transported as the starting grid point, and find the grid point closest to the coordinates of the container's end point as the ending grid point; Step 3: Obtain the path from the starting grid point to the ending grid point, take the path length as the primary weight and the number of path turning angles as the secondary weight, compare the weights of each path and sort them; Step 4: Generate the function of the robotic arm position versus time on each path; exclude the paths with conflicting robotic arm positions; Step 5: Obtain the optimal path and the three sub-optimal paths, upload the optimal path, and control its execution by the central control module, and upload the three sub-optimal paths for backup.

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